HTML datasheet archive (search documentation on electronic components) Search datasheet (1.687.043 components)
Search field

Datasheet: MC1401 (Performance Motion Devices, Inc.)

For Brushed Servo Motion Control

 

Download: PDF   ZIP
 

Document Outline

Available in 1, 2, or 4 axes configurations
Provides trajectory generation and servo loop
closure
32-bit position, velocity, acceleration and jerk
registers
Two directional travel-limit switches per axis
Choice of S-curve, trapezoidal, or contoured
velocity profile modes
Programmable loop rate to 100 micro sec
Electronic gearing
Choice of either PID or PI with velocity feedforward
servo control loops
1.0 megacount/sec quadrature incremental encoder
with index position capture
Parallel encoder and resolver input support
Choice of PWM or DAC motor output signals
High speed home-signal position capture
"On the fly" control of profile and filter parameters
with pre-load
Programmable torque limit
Easy to use packet-oriented host protocol
Programmable host interrupts
Typical Configuration
Features
General Description
The MC1401A is a 2-IC general purpose motion control chipset
available in one, two, or four axis configurations. It provides
trajectory generation and closed-loop digital servo control for a
large variety of servo motors. It uses incremental or absolute
encoder position feedback signals, and a DAC or PWM
compatible output drive. Axes can be programmed either
independently or in synchrony to allow advanced multi-axis
motion such as circular and continuous-path profiles.
The MC1401A is functionally similar to other members of
PMD's 1st generation chipset family, providing software and
architectural compatibility with these chipsets. All of these
products support advanced features such as S-curve profile
generation, bi-directional motion-travel limit switches, and
separate home and index position capture signals.
The chipset is controlled by a host processor which interfaces
with the chipset via an 8-bit, bi-directional port. Communications
to/from the chipset consist of packet-oriented messages. A host
interrupt line is provided so that the chipset can signal the host
when special conditions occur such as encoder index pulse
received.
Each axis interfaces to either a quadrature encoder with an
optional index pulse, or a parallel-word device such as an
absolute encoder or resolver. For motor amplifier output, PWM
signals are provided, as well as DAC-compatible signals with up
to 16 bits of resolution.
The chipset is packaged in 2 68-pin PLCC packages. Both
chips utilize CMOS technology and are powered by 5 volts.
Host
Processor
MC1401A
(I/O & CP)
E
Axis 1
E
Axis 2
E
Axis 3
E
Axis 4
Amp
Amp
Amp
Amp
M
M
M
M
Doc. Rev. 6.14, Nov, 1997
(MC1401A only)
(MC1401A only)
(MC1401A,
MC1201A only)
Performance Motion Devices, Inc. 12 Waltham St. Lexington, MA 02421 tel: 781.674.9860 fax: 781.674.9861 www.pmdcorp.com
$GYDQFHG0XOWL$[LV0RWLRQ
&RQWURO&KLSVHW
0&$0&$3
0&$0&$3
0&$0&$3
2
Table of Contents
Product Family Overview....................................... Page 3
Introduction ............................................................ Page 3
Family Summary..................................................... Page 3
Electrical Characteristics....................................... Page 4
Absolute Maximum Ratings.................................. Page 4
Operating Ratings................................................. Page 4
DC Electrical Characteristics ................................ Page 5
AC Electrical Characteristics ................................ Page 5
I/O Timing Diagrams............................................. Page 7
Pinouts .................................................................... Page 13
MC1401A. MC1201A............................................ Page 13
MC1101A, MC1401A-P ........................................ Page 14
MC1201A-P, MC1101A-P..................................... Page 15
Pin Descriptions.................................................... Page 16
Theory of Operations ............................................. Page 20
Trajectory Profile Generation................................ Page 21
S-curve Point to Point ....................................... Page 22
Trapezoidal Point to Point................................. Page 23
Velocity Contouring........................................... Page 23
Electronic Gear................................................. Page 24
Trajectory Control ................................................. Page 24
Halting The Trajectory ...................................... Page 24
Motion Complete Status ................................... Page 25
Digital Servo Filtering ........................................... Page 25
Motor Limit........................................................ Page 26
Motor Bias ........................................................ Page 26
Parameter Loading & Updating ............................ Page 26
Manual Update ................................................. Page 27
Breakpoints....................................................... Page 27
External Breakpoints and Homing .................... Page 28
Disabling Automatic Profile Update .................. Page 28
Travel Limit Switches............................................ Page 28
Motion Error Detection and Recovery .................. Page 29
Recovering From a Motion Error ...................... Page 29
Axis Timing ........................................................... Page 29
Host Communications .......................................... Page 30
Electrical Interface ............................................ Page 30
Packet Format .................................................. Page 30
Packet Checksum .............................................Page 31
Illegal Commands .............................................Page 31
Command Errors...............................................Page 31
Axis Addressing ....................................................Page 31
Axis Status ............................................................Page 32
Status Word ......................................................Page 32
Miscellaneous Mode Status Word.....................Page 32
Host Interrupts.......................................................Page 32
Encoder Position Feedback ..................................Page 34
Incremental Encoder Input ................................Page 34
Encoder Filtering ...............................................Page 34
High Speed Position Capture ............................Page 34
Parallel-Word Device Input................................Page 34
Parallel-Word Device Interfacing.......................Page 35
Motor Outputs .......................................................Page 35
Motor Output Control.........................................Page 35
PWM Output......................................................Page 36
12-Bit DAC Output.............................................Page 36
16-Bit DAC Output.............................................Page 36
Host Commands .....................................................Page 38
Command Summary .............................................Page 38
Command Reference ............................................Page 40
Axis Control.......................................................Page 40
Profile Generation .............................................Page 41
Digital Filter .......................................................Page 45
Parameter Update.............................................Page 47
Interrupt Processing ..........................................Page 50
Status/Mode ......................................................Page 51
Encoder.............................................................Page 52
Motor .................................................................Page 52
Miscellaneous ...................................................Page 54
Application Notes ...................................................Page 58
Interfacing to ISA bus............................................Page 58
Parallel-Word Device Interface .............................Page 60
PWM Motor Interface ............................................Page 62
16-Bit Parallel DAC Motor interface ......................Page 64
16-Bit Serial DAC Motor Interface.........................Page 66
Performance Motion Devices, Inc. does not assume any responsibility for use of any circuitry described in this manual, nor does it make
any guarantee as to the accuracy of this manual. Performance Motion Devices, Inc. reserves the right to change the circuitry described in
this manual, or the manual itself, at any time.
The components described in this manual are not authorized for use in life-support systems without the express written permission of
Performance Motion Devices, Inc.
3
Product Family Overview
MC1401 series
MC1231 series
MC1241 series
MC1451 series
# of axes
4, 2, or 1
2 or 1
2 or 1
4, 2, or 1
Motors Supported
DC Servo
Brushless Servo
Stepper
Stepper
Encoder Format
Incremental (no dash version)
and Parallel ('-P' version)
Incremental
Incremental
Incremental (-E version)
Output Format
DC servo
Sinusoidally
commutated
Microstepping
Pulse and Direction
S-curve profiling
Yes
Yes
Yes
Yes
Electronic gearing
Yes
Yes
Yes
Yes
On-the-fly changes
Yes
Yes
Yes
Yes
Limit switches
Yes
Yes
Yes
Yes
PID & feedforward
Yes
Yes
-
-
PWM output
Yes
Yes
Yes
-
DAC-compatible output
Yes
Yes
Yes
-
Pulse & direction output
-
-
-
Yes
Index & Home signal
Yes
Yes
Yes
Yes (-E version)
Chipset p/n's
MC1401A, MC1401A-P (4 axes)
MC1201A, MC1201A-P (2 axes)
MC1101A, MC1101A-P (1 axis)
MC1231A (2 axes)
MC1131A (1 axis)
MC1241A (2 axes)
MC1141A (1 axis)
MC1451A, MC1451A-E (4 axes)
MC1251A, MC1251A-E (2 axes)
MC1151A, MC1151A-E (1 axis)
Developer's Kit p/n's:
DK1401A, DK1401A-P
DK1231A
DK1241A
DK1451A
Introduction
This manual describes the operational characteristics of the MC1401A,
MC1201A, MC1101A, MC1401A-P, MC1201A-P, and MC1101A-P
Motion Processors. These devices are members of PMD's 1st
generation motion processor family, which consists of 16 separate
products organized into four groups.
Each of these devices are complete chip-based motion controllers.
They provide trajectory generation and related motion control functions.
Depending on the type of motor controlled they provide servo loop
closure, on-board commutation for brushless motors, and high speed
pulse and direction outputs. Together these products provide a
software-compatible family of dedicated motion processor chips which
can handle a large variety of system configurations.
Each of these chips utilize a similar architecture, consisting of a high-
speed DSP (Digital Signal Processor) computation unit , along with an
ASIC (Application Specific Integrated Circuit). The computation unit
contains special on-board hardware such as a multiply instruction that
makes it well suited for the task of motion control.
Along with a similar hardware architecture these chips also share most
software commands, so that software written for one chipset may be re-
used with another, even though the type of motor may be different.
This manual describes the operation of the MC1401A, MC1201A,
MC1101A, MC1401A-P, MC1201A-P, and MC1101A-P chipsets. For
technical details on other members of PMD's first generation
motion processors see the corresponding product manual.
Family Summary
MC1401 series (MC1401A, MC1201A, MC1101A, MC1401A-P,
MC1201A-P, MC1101A-P)
- These chipsets take in incremental
encoder signals (standard version) or parallel word encoder signals
(-P version) and output a motor command in either PWM or DAC-
compatible format. These chipsets come in 1, 2 or 4 axis versions
and can be used with DC brushed motors, or brushless motors using
external commutation.
MC1231 series (MC1231A, MC1131A) - These chipsets take in
incremental quadrature encoder signals and output sinusoidally
commutated motor signals appropriate for driving brushless motors.
They are available in one or two axis versions. Depending on the
motor type they output two or three phased signals per axis in either
PWM or DAC-compatible format.
MC1241 series (MC1241A, MC1141A) - These chipsets provide
internal microstepping generation for stepping motors. They are
available in a one or a two-axis version. Two phased signals are
output per axis in either PWM or DAC-compatible format. An
incremental encoder signal can be input to confirm motor position.
MC1451 series (MC1451A, MC1251A, MC1151A, MC1451A-E,
MC1251A-E, MC1151A-E) -
These chipsets provide very high speed
pulse and direction signal output appropriate for driving step motor-
based systems. They are available in a one, two, or four-axis version
and are also available with quadrature encoder input.
Each of these chipsets has an associated Chipset Developer's
Kit available for it. For more information contact your PMD
representative.
4
Electrical Characteristics
Overview
The MC1401A-consists of two 68 pin PLCC's both fabricated in CMOS.
The Peripheral Input/Output IC (I/O chip) is responsible for interfacing
to the host processor and to the position input encoders. The Command
Processor IC (CP chip) is responsible for all host command, profile and
servo computations, as well as for outputting the PWM and DAC
signals.
The following figure shows a typical system block diagram, along with
the pin connections between the I/O chip and the CP chip.
Encoder
(1-4 axis)
Host
Processor
CP
I/O
Data4-11
I/OAddr0-3
I/OWrite
I/OCntrl0-3
ClkOut
Amplifier
(1-4 axis)
Motor
(4 axis)
The CP and I/O chips function together as one integrated motion
processor. The major components connected to the chip set are the
Encoder (4, 2, or 1 axes), the motor amplifier (4, 2, or 1 axes), and the
host processor.
For the standard MC1401A parts (non '-P' parts), the encoder signals
are input to the I/O chip in quadrature format. For the '-P' parts the
encoder information is input directly into the CP chip, via an 8 bit data
bus and various control signals.
The chipset's motor output signals are connected to the motor amplifier.
Two types of output are provided; PWM (pulse width modulation), and
DAC-compatible signals used with an external DAC (digital to analog
converter).
The host processor is interfaced via an 8-bit bi-directional bus and
various control signals. Host communication is coordinated by a
ready/busy signal, which indicates when communication is allowed.
Interconnections between the two chips consist of a data bus and
various control and synchronization signals. The following table
summarizes the signals that must be interconnected for the chipset to
function properly. For each listed signal the I/O chip pin on the left side
of the table is directly connected to the pin to the right.
I/O Chip Signal
Name
I/O Chip
Pin
CP Chip
Signal Name
CP Chip
Pin
CPData4
18
Data4
50
CPData5
5
Data5
49
CPData6
6
Data6
46
CPData7
7
Data7
43
CPData8
8
Data8
40
CPData9
17
Data8
39
CPData10
3
Data10
36
CPData11
1
Data11
35
CPAddr0
68
I/OAddr0
28
CPAddr1
27
I/OAddr1
9
CPAddr2
29
I/OAddr2
6
CPAddr3
12
I/OAddr3
5
CPCntr0
20
I/OCntr0
16
CPCntr1
36
I/OCntr1
18
CPCntr2
22
I/OCntr2
68
CPCntr3
63
I/OCntr3
67
CPWrite
2
I/OWrite
15
CPClk
46
ClkOut
19
For a complete description of all pins see the 'Pin Descriptions'
section of this manual.
Unless specifically noted otherwise, the term 'MC1401A' refers to
the MC1401A, MC1201A, MC1101A, MC1401A-P, MC1201A-P, and
MC1101A-P Motion Processors.
Absolute Maximum Ratings
Unless otherwise stated, all electrical specifications are for both
the I/O and CP chips.
Storage Temperature, Ts.....................-55 deg. C to +150 deg. C
Supply Voltage, Vcc.............................-0.3 V to +7.0 V
Power Dissipation, Pd..........................650 mW (I/O and CP
combined)
Operating Ratings
Operating Temperature, Ta .................0 deg. C to +70 deg. C*
Nominal Clock Frequency, Fclk ...........25.0 Mhz
Supply Voltage, Vcc.............................4.75 V to 5.25 V
* Industrial and Military operating ranges also available. Contact your
PMD representative for more information.
5
DC Electrical Characteristics
(Vcc and Ta per operating ratings, Fclk = 25.0 Mhz)
Symbol
Parameter
Min.
Max.
Units
Conditions
Vcc
Supply Voltage
4.75
5.25
V
Idd
Supply Current
100
mA
open outputs
Input Voltages
Vih
Logic 1 input voltage
2.0
Vcc + 0.3
V
Vil
Logic 0 input voltage
-0.3
0.8
V
Vihclk
Logic 1 voltage for clock pin
(ClkIn)
3.0
Vcc+0.3
V
Vihreset
Logic 1 voltage for reset pin
(reset)
4.0
Vcc+0.3
V
Output Voltages
Voh
Logic 1 Output Voltage
2.4
V
@CP Io = 300 uA
@I/O Io = 4 mA
Vol
Logic 0 Output Voltage
0.33
V
@CP Io = 2 mA
@I/O Io = 4 mA
Iout
Tri-State output leakage current
-20
20
uA
0 < Vout < Vcc
Iin
Input current
-50
50
uA
0 < Vi < Vcc
Iinclk
Input current ClkIn
-20
20
uA
0 < Vi < Vcc
AC Electrical Characteristics
(see reference timing diagrams)
(Vcc and Ta per operating ratings; Fclk = 25.0 Mhz)
(~ character indicates active low signal)
Timing Interval
T#
Min.
Max.
Units
Encoder and Index Pulse Timing
Motor-Phase Pulse Width
T1
1.6
uS
Dwell Time Per State
T2
0.8
uS
Index Pulse Setup and Hold
(relative to Quad A and Quad B low)
T3
0
uS
Reset Timing
Stable Power to Reset
0.25
Sec
Reset Low Pulse Width
1.0
uS
Clock Timing
Clock Frequency (Fclk)
6.7
25.6
Mhz
Clock Pulse Width
T4
19.5
75 (note 2)
nS
Clock Period
T5
39
149 (note 2)
nS
© 2014 • ICSheet
Contact form
Main page